{"id":"https://openalex.org/W4400726943","doi":"https://doi.org/10.1109/access.2024.3429506","title":"ASAP: Agile and Safe Pursuit for Local Planning of Autonomous Mobile Robots","display_name":"ASAP: Agile and Safe Pursuit for Local Planning of Autonomous Mobile Robots","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400726943","doi":"https://doi.org/10.1109/access.2024.3429506"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3429506","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3429506","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://dx.doi.org/10.1109/access.2024.3429506","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100429208","display_name":"Dong\u2010Hyun Lee","orcid":"https://orcid.org/0000-0002-9372-3333"},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Dong-Hyun Lee","raw_affiliation_strings":["School of Electronic Engineering, Kumoh National Institute of Technology, Gumi-si, Gyeongbuk, Republic of Korea","Department of IT Convergence Engineering, Kumoh National Institute of Technology, Gumi-si, Gyeongbuk, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Kumoh National Institute of Technology, Gumi-si, Gyeongbuk, Republic of Korea","institution_ids":["https://openalex.org/I113409471"]},{"raw_affiliation_string":"Department of IT Convergence Engineering, Kumoh National Institute of Technology, Gumi-si, Gyeongbuk, Republic of Korea","institution_ids":["https://openalex.org/I113409471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017906397","display_name":"Sunglok Choi","orcid":"https://orcid.org/0000-0002-1127-1346"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sunglok Choi","raw_affiliation_strings":["Department of Computer Science and Engineering, Seoul National University of Science and Technology (SEOULTECH), Nowon-gu, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Seoul National University of Science and Technology (SEOULTECH), Nowon-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043026620","display_name":"Ki\u2010In Na","orcid":"https://orcid.org/0000-0002-4229-4786"},"institutions":[{"id":"https://openalex.org/I142401562","display_name":"Electronics and Telecommunications Research Institute","ror":"https://ror.org/03ysstz10","country_code":"KR","type":"facility","lineage":["https://openalex.org/I142401562","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ki-In Na","raw_affiliation_strings":["Mobility Robot Research Division, Electronics and Telecommunications Research Institute (ETRI), Yuseong-gu, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Mobility Robot Research Division, Electronics and Telecommunications Research Institute (ETRI), Yuseong-gu, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I142401562"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100429208"],"corresponding_institution_ids":["https://openalex.org/I113409471"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.579,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8417578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"99600","last_page":"99613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7175955176353455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7138588428497314},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6769774556159973},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6469356417655945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6336898803710938},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5960497260093689},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5631060600280762},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5490999817848206},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5337240695953369},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.500669002532959},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.49653416872024536},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.48506489396095276},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45737338066101074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44203755259513855},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3857058882713318},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34133845567703247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3402460217475891},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3276098966598511},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20337143540382385}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7175955176353455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7138588428497314},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6769774556159973},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6469356417655945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6336898803710938},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5960497260093689},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5631060600280762},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5490999817848206},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5337240695953369},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.500669002532959},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.49653416872024536},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.48506489396095276},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45737338066101074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44203755259513855},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3857058882713318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34133845567703247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3402460217475891},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3276098966598511},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20337143540382385},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3429506","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3429506","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8101667b6e1a426ab4d80c2abc83e3c9","is_oa":true,"landing_page_url":"https://doaj.org/article/8101667b6e1a426ab4d80c2abc83e3c9","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 99600-99613 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3429506","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3429506","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2870928304","display_name":null,"funder_award_id":"RS-2024-00337584","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2044197961","https://openalex.org/W2104067547","https://openalex.org/W2117211893","https://openalex.org/W2127617835","https://openalex.org/W2152536965","https://openalex.org/W2171331791","https://openalex.org/W2512395495","https://openalex.org/W2521720498","https://openalex.org/W2549200707","https://openalex.org/W2759702527","https://openalex.org/W2912063360","https://openalex.org/W2962917939","https://openalex.org/W2964319688","https://openalex.org/W2969277962","https://openalex.org/W2982758424","https://openalex.org/W3007469703","https://openalex.org/W3023173947","https://openalex.org/W3028006854","https://openalex.org/W3033530826","https://openalex.org/W3083466020","https://openalex.org/W3091957856","https://openalex.org/W3107130550","https://openalex.org/W3133018151","https://openalex.org/W3169168121","https://openalex.org/W3193320876","https://openalex.org/W3200068961","https://openalex.org/W3202169896","https://openalex.org/W3205835814","https://openalex.org/W4200004515","https://openalex.org/W4220992574","https://openalex.org/W4294167390","https://openalex.org/W4327522515","https://openalex.org/W4327662014","https://openalex.org/W4389264040","https://openalex.org/W4392567285","https://openalex.org/W6688688956","https://openalex.org/W6859075611"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W4381746183","https://openalex.org/W2975575631"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,54,59,69,130,163,177],"novel":[4],"local":[5,55],"planning":[6],"approach":[7,52,86,128,171,212],"called":[8],"Agile":[9],"and":[10,25,64,67,106,145,189,203],"SAfe":[11],"Pursuit":[12],"(ASAP)":[13],"for":[14,36],"autonomous":[15],"mobile":[16],"robots.":[17],"It":[18],"aims":[19],"to":[20,90,100,134,160,166,174,219],"enable":[21],"agile":[22,47,184],"path":[23,48,56],"following":[24],"safe":[26,81],"collision":[27,82,187],"avoidance":[28],"in":[29,39,97,152,206],"cluttered":[30,207],"environments,":[31,168],"while":[32],"ensuring":[33],"computational":[34,44,190,214],"efficiency":[35,191],"real-time":[37],"performance":[38],"embedded":[40],"systems":[41],"with":[42,103,112],"limited":[43],"power.":[45],"For":[46,80,158],"following,":[49],"the":[50,74,78,84,108,113,119,126,140,143,149,153,169,210],"proposed":[51,85,127,170,182,211],"utilizes":[53],"that":[57,138,216],"includes":[58],"line":[60],"path,":[61,63],"arc":[62],"in-place":[65],"rotation,":[66],"generates":[68],"target":[70,120,150],"velocity":[71,121,132,137,151],"based":[72],"on":[73],"kinematic":[75],"constraints":[76],"of":[77,142,148],"robot.":[79],"avoidance,":[83,188],"uses":[87,129],"obstacle":[88],"information":[89],"generate":[91],"safety":[92,110],"corners,":[93],"which":[94],"represent":[95],"points":[96],"free":[98],"space":[99,133],"circumvent":[101],"obstacles":[102],"arbitrary":[104],"shapes,":[105],"selects":[107],"best":[109],"corner":[111],"minimum":[114],"travel":[115],"time.":[116],"To":[117],"reach":[118],"as":[122,124],"quickly":[123],"possible,":[125],"normalized":[131],"calculate":[135],"control":[136],"achieves":[139,213],"ratio":[141],"linear":[144],"angular":[146],"components":[147],"shortest":[154],"possible":[155],"time":[156],"period.":[157],"end-users":[159],"easily":[161],"adapt":[162],"robot\u2019s":[164],"behavior":[165],"different":[167],"is":[172],"designed":[173],"require":[175],"only":[176],"few":[178],"tuning":[179],"parameters.":[180],"The":[181],"algorithm\u2019s":[183],"control,":[185],"rigorous":[186],"were":[192],"demonstrated":[193],"through":[194],"experimental":[195],"results":[196],"from":[197],"hardware-in-the-loop":[198],"simulations":[199],"under":[200],"various":[201],"scenarios":[202],"real-robot":[204],"tests":[205],"environments.":[208],"Remarkably,":[209],"speeds":[215],"are":[217],"25":[218],"200":[220],"times":[221],"faster":[222],"than":[223],"other":[224],"existing":[225],"algorithms.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}